Unmanned Aerial Vehicles (UAV) in autonomous operations is an emerging technology with growing applications in several areas, such as agriculture, search and rescue (SaR), and even space exploration. The take-off and particular landing are some of the critical parts of operation. This paper proposes a landing site selection and control algorithm for an autonomous multirotor UAV. The goal is to land the UAV in safe locations as close as possible to a Point of Interest (PoI), mainly in unknown and unsafe terrains. The Landing Site Selection (LSS) algorithm uses terrain features from a 3D pointcloud, Support Vector Machines (SVM) to classify landing safety, and a cost function to compute the best landing site. The algorithm can be used both offline with a 3D map and online with data from a depth sensor. The states of the landing procedure are handled by a high-level state machine and velocity controllers control the UAV. LSS was tested using 3D maps of real scenarios and data from depth camera mounted on a real UAV, and the full autonomous landing system was tested in a simulated environment.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An Integrated Method for Landing Site Selection and Autonomous Reactive Landing for Multirotors


    Weitere Titelangaben:

    Lect. Notes in Networks, Syst.


    Beteiligte:
    Marques, Lino (Herausgeber:in) / Santos, Cristina (Herausgeber:in) / Lima, José Luís (Herausgeber:in) / Tardioli, Danilo (Herausgeber:in) / Ferre, Manuel (Herausgeber:in) / Veiga, Nuno (Autor:in) / Vale, Alberto (Autor:in) / Ventura, Rodrigo (Autor:in)

    Kongress:

    Iberian Robotics conference ; 2023 ; Coimbra, Portugal November 22, 2023 - November 24, 2023



    Erscheinungsdatum :

    2024-04-27


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Mars Landing Site Selection

    Golombek, Matthew | NTRS | 2021


    A perspective of landing-site selection

    Moore, Henry J. | NTRS | 1994


    Lunar landing and site selection study

    Lewis, J. L. / Wheelwright, C. D. | NTRS | 1965


    Digital Terrain Map Based Safe Landing Site Selection for Planetary Landing

    Jung, Youeyun / Lee, Seongheon / Bang, Hyochoong | IEEE | 2020


    Landing Site

    von Ehrenfried, Manfred ”Dutch” | Springer Verlag | 2022